Sadly, no, but he had the makings of a great one, at least as cut together by playwright Danny Thompson, cofounder of Chicago’s Theater Oobleck.
Some twenty five years after Beckett’s death, Thompson---whose credits include the Complete Lost Works of Samuel Beckett as Found in a Dustbin in Paris in an Envelope (Partially Burned) Labeled: Never to Be Performed. Never. Ever. Ever! Or I'll Sue! I'll Sue From the Grave!!!---repurposed Rosa Veim and Daniel Schmid’s footage of the moody genius wandering around 1969 Berlin into the opening credits of a nonexistent, 70s era Quinn Martin police procedural.
The title sequence hits all the right period notes, from the jazzy graphics to the presentation of its supporting cast: Andre the Giant, Jean Paul Sartre, and Jean “Huggy Bear” Cocteau. (Did you know that Beckett drove a young Andre the Giant to school in real life?)
He also notes that a DVD release of the first, only and, again, entirely non-existent season has been held up by the notoriously litigious Beckett estate. Alas.
Here, for comparison’s sake, are the opening credits of some of Beckett’s forebears:
The Streets of San Francisco (1972)
Rockford Files (1974)